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Motion.Spline
Executes a spline type motion. A user must specify the position and time values for a given motion at multiple points.
Version History
Introduced in MPX 2.0.
Arguments
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| Argument |
Type |
Units |
Description |
| Position |
Variant |
Encoder counts |
Array of absolute position values. |
| DeltaTime |
Variant |
Seconds |
Array of delta-time values between Spline points. |
| EmptyCount |
Long
(optional) |
Number of Spline points |
This value specifies the minimum number of points in the controller's buffer to trigger an E_STOP action and a MOTION_OUT_OF_FRAMES event.
If ALL the points for a move fit into the controller's buffer, the emptyCount can be disabled with a value of 0.
If ALL the points for a move do NOT fit into the controller's buffer, you must set the emptyCount to a non-zero value. Any points that do not fit into the controller's buffer will be streamed from the host to the controller via the eventMgr. The controller monitors the emptyCount to determine if it will run out of points. If the number of frames left in the controller's buffer is less than the emptyCount, an E_STOP action will occur for all axes mapped to the Motion Supervisor. An E_STOP will decelerate the axes to a stop along the path of the controller's remaining points. The emptyCount must be set to a large enough value to allow the E_STOP to stop motion BEFORE the end of the point list is reached. For example, if each point takes 5 milliseconds to execute and an E_STOP is configured for 20 milliseconds, then emptyCount should be 4 (or higher).
The valid range is 0 to the controller's axis frame buffer size. |
| Attributes |
MoveAttr
(optional) |
N/A |
Flags that modify the motion.
If this argument is omitted then no attributes are assumed and the standard action is generated. |
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Overload 1
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| Argument |
Type |
Description |
| position |
Array of Double |
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| deltaTime |
Array of Double |
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Overload 2
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| Argument |
Type |
Description |
| position |
Array of Double |
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| deltaTime |
Array of Double |
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| emptyCount |
Int32 |
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Overload 3
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| Argument |
Type |
Description |
| position |
Array of Double |
|
| deltaTime |
Array of Double |
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| attributes |
Mpx.MoveAttribute |
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Overload 4
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| Argument |
Type |
Description |
| position |
Array of Double |
|
| deltaTime |
Array of Double |
|
| emptyCount |
Int32 |
|
| attributes |
Mpx.MoveAttribute |
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Overload 5
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| Argument |
Type |
Description |
| position |
2-D Array of Double |
|
| deltaTime |
Array of Double |
|
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Overload 6
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| Argument |
Type |
Description |
| position |
2-D Array of Double |
|
| deltaTime |
Array of Double |
|
| emptyCount |
Int32 |
|
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Overload 7
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| Argument |
Type |
Description |
| position |
2-D Array of Double |
|
| deltaTime |
Array of Double |
|
| attributes |
Mpx.MoveAttribute |
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Overload 8
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| Argument |
Type |
Description |
| position |
2-D Array of Double |
|
| deltaTime |
Array of Double |
|
| emptyCount |
Int32 |
|
| attributes |
Mpx.MoveAttribute |
|
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Visual Basic
Syntax
Sub Spline(position As Double(), deltaTime As Double())
Sub Spline(position As Double(), deltaTime As Double(), emptyCount As Int32)
Sub Spline(position As Double(), deltaTime As Double(), attributes As Mpx.MoveAttribute)
Sub Spline(position As Double(), deltaTime As Double(), emptyCount As Int32, attributes As Mpx.MoveAttribute)
Sub Spline(position As Double(,), deltaTime As Double())
Sub Spline(position As Double(,), deltaTime As Double(), emptyCount As Int32)
Sub Spline(position As Double(,), deltaTime As Double(), attributes As Mpx.MoveAttribute)
Sub Spline(position As Double(,), deltaTime As Double(), emptyCount As Int32, attributes As Mpx.MoveAttribute)
Sample Code
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' Overload 1
Dim pos() As Double = New Double() { 1000.0, 2000.0 }
Dim deltaTime() As Double = New Double() { 1.0, 2.0 }
' pos deltaTime
controller.Motion(0).Spline(pos, deltaTime)
' Overload 2
Dim pos() As Double = New Double() { 1000.0, 2000.0 }
Dim deltaTime() As Double = New Double() { 1.0, 2.0 }
Dim emptyCount As Int32 = 0
' pos deltaTime emptyCount
controller.Motion(0).Spline(pos, deltaTime, emptyCount)
' Overload 3
Dim pos() As Double = New Double() { 1000.0, 2000.0 }
Dim deltaTime() As Double = New Double() { 1.0, 2.0 }
' pos deltaTime MoveAttr
controller.Motion(0).Spline(pos, deltaTime, Mpx.MoveAttribute.Id)
' Overload 4
Dim pos() As Double = New Double() { 1000.0, 2000.0 }
Dim deltaTime() As Double = New Double() { 1.0, 2.0 }
Dim emptyCount As Int32 = 0
' pos deltaTime emptyCount MoveAttr
controller.Motion(0).Spline(pos, deltaTime, emptyCount, Mpx.MoveAttribute.Id)
' Overload 5
Dim pos(,) As Double = New Double(,) { { 1000.0, 2000.0 }, { 1500, 2500 } }
Dim deltaTime() As Double = New Double() { 1.0, 2.0 }
' pos deltaTime
controller.Motion(0).Spline(pos, deltaTime)
' Overload 6
Dim pos(,) As Double = New Double(,) { { 1000.0, 2000.0 }, { 1500, 2500 } }
Dim deltaTime() As Double = New Double() { 1.0, 2.0 }
Dim emptyCount As Int32 = 0
' pos deltaTime emptyCount
controller.Motion(0).Spline(pos, deltaTime, emptyCount)
' Overload 7
Dim pos(,) As Double = New Double(,) { { 1000.0, 2000.0 }, { 1500, 2500 } }
Dim deltaTime() As Double = New Double() { 1.0, 2.0 }
' pos deltaTime MoveAttr
controller.Motion(0).Spline(pos, deltaTime, Mpx.MoveAttribute.Id)
' Overload 8
Dim pos(,) As Double = New Double(,) { { 1000.0, 2000.0 }, { 1500, 2500 } }
Dim deltaTime() As Double = New Double() { 1.0, 2.0 }
Dim emptyCount As Int32 = 0
' pos deltaTime emptyCount MoveAttr
controller.Motion(0).Spline(pos, deltaTime, emptyCount, Mpx.MoveAttribute.Id)
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Sample Application
C#
Syntax
void Spline(double[] position, double[] deltaTime);
void Spline(double[] position, double[] deltaTime, int emptyCount);
void Spline(double[] position, double[] deltaTime, Mpx.MoveAttribute attributes);
void Spline(double[] position, double[] deltaTime, int emptyCount, Mpx.MoveAttribute attributes);
void Spline(double[,] position, double[] deltaTime);
void Spline(double[,] position, double[] deltaTime, int emptyCount);
void Spline(double[,] position, double[] deltaTime, Mpx.MoveAttribute attributes);
void Spline(double[,] position, double[] deltaTime, int emptyCount, Mpx.MoveAttribute attributes);
Sample Code
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// Overload 1
double[] pos = new double[] { 1000.0, 2000.0 };
double[] deltaTime = new double[] { 1.0, 2.0 };
// pos deltaTime
controller.Motion[0].Spline(pos, deltaTime);
// Overload 2
double[] pos = new double[] { 1000.0, 2000.0 };
double[] deltaTime = new double[] { 1.0, 2.0 };
int emptyCount = 0;
// pos deltaTime emptyCount
controller.Motion[0].Spline(pos, deltaTime, emptyCount);
// Overload 3
double[] pos = new double[] { 1000.0, 2000.0 };
double[] deltaTime = new double[] { 1.0, 2.0 };
// pos deltaTime MoveAttr
controller.Motion[0].Spline(pos, deltaTime, Mpx.MoveAttribute.Id);
// Overload 4
double[] pos = new double[] { 1000.0, 2000.0 };
double[] deltaTime = new double[] { 1.0, 2.0 };
int emptyCount = 0;
// pos deltaTime emptyCount MoveAttr
controller.Motion[0].Spline(pos, deltaTime, emptyCount, Mpx.MoveAttribute.Id);
// Overload 5
double[,] pos = new double[,] { { 1000.0, 2000.0 }, { 1500, 2500 } };
double[] deltaTime = new double[] { 1.0, 2.0 };
// pos deltaTime
controller.Motion[0].Spline(pos, deltaTime);
// Overload 6
double[,] pos = new double[,] { { 1000.0, 2000.0 }, { 1500, 2500 } };
double[] deltaTime = new double[] { 1.0, 2.0 };
int emptyCount = 0;
// pos deltaTime emptyCount
controller.Motion[0].Spline(pos, deltaTime, emptyCount);
// Overload 7
double[,] pos = new double[,] { { 1000.0, 2000.0 }, { 1500, 2500 } };
double[] deltaTime = new double[] { 1.0, 2.0 };
// pos deltaTime MoveAttr
controller.Motion[0].Spline(pos, deltaTime, Mpx.MoveAttribute.Id);
// Overload 8
double[,] pos = new double[,] { { 1000.0, 2000.0 }, { 1500, 2500 } };
double[] deltaTime = new double[] { 1.0, 2.0 };
int emptyCount = 0;
// pos deltaTime emptyCount MoveAttr
controller.Motion[0].Spline(pos, deltaTime, emptyCount, Mpx.MoveAttribute.Id);
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See Also
PVTF
PTF
PVT
Bessel
BSpline
BSpline2
MoveAttr
Axis Object
PositionScale
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